Kollmorgen Akd-x00306 User manual

AKD™

Installation Manual

Edition March 2010

Valid for Hardware Revision A

Original Document

Patents Pending

Keep all manuals as a product component

during the life span of the product. Pass all manuals to

future users/owners of the product.

Record of Document Revisions:

Revision Remarks

11/2009 Beta launch version

12/2009 Digital I/O corrections, several updates

03/2010 CAN termination connector "optional", data dynamic brake updated, resolver signals renamed,

CE certificate, X9 description updated, technical data completed

Hardware Revision (HR)

Hardware Revision Firmware WorkBench Remarks

A M_01-02-00-000 1.2.0

EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH

EtherCAT is a registered trademark of EtherCAT Technology Group

HIPERFACE is a registered trademark of Max Stegmann GmbH

WINDOWS is a registered trademark of Microsoft Corporation

AKD is a registered trademark of Kollmorgen Corporation

Current patents:

US Patent 5,646,496 (used in control card R/D and 1 Vp-p feedback interface)

US Patent 5,162,798 (used in control card R/D)

US Patent 6,118,241 (used in control card simple dynamic braking)

Technical changes which improve the performance of the device may be made without prior notice!

Printed in the United States of America

reproduced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or dis-

tributed by electronic means without the written permission of Kollmorgen™.

2 Kollmorgen | March 2010

Table of Contents

1 General 11

1.1 About this Manual 12

1.2 Target Group 12

1.3 Using the PDF Format 12

1.4 Abbreviations 13

1.5 Warning Symbols 14

1.6 Standards Used 15

2 Safety 16

2.1 Safety Instructions 17

2.2 Use as Directed 18

2.3 Prohibited Use 18

3 Approvals 19

3.1 Conformance with UL/cUL 20

3.1.1 UL Markings 20

3.2 CE Conformance 22

3.2.1 European Directives and Standards for the machine builder 23

3.2.2 EC Declaration of Conformity 24

3.3 Safe Torque Off (STO) 25

4 Handling 26

4.1 Transport 27

4.2 Packaging 27

4.3 Storage 27

4.4 Maintenance and Cleaning 28

4.5 Uninstalling 28

4.6 Repair and Disposal 28

5 Package 29

5.1 Package Supplied 30

5.2 Nameplate 30

5.3 Part number scheme 31

6 Technical description and data 32

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AKD Installation |
1 The AKD Family of Digital Drives 33
2 Ambient Conditions, Ventilation, and Mounting Position 35
3 Mechanical Data 35
4 Inputs/Outputs 36
5 Electrical Data AKD-xzzz06 37
6 Electrical Data AKD-xzzz07 38
7 Performance Data 39
8 Recommended tightening torques 39
9 Fusing 40
9.1 External Power Supply fusing 40
9.2 External 24 V supply fusing 40
9.3 External Brake Resistor fusing 40
10 Connectors 41
10.1 AKD-xzzz06 Types (120V to 240V Mains Voltage Supply) 41
10.2 AKD-xzzz07 Types (240V to 480V Mains Voltage Supply) 41
11 Cable and Wire Requirements 42
11.1 General 42
11.2 Cable Cross Sections and Requirements 42
12 LED display 43
13 Grounding System 43
14 Dynamic Braking 44
14.1 Functional description 44
14.2 Technical Data for AKD-xzzz06 45
14.3 Technical Data for AKD-xzzz07 46
15 Switch-on and Switch-off Behavior 47
15.1 Behavior in Standard Operation 48
15.2 Behavior in the event of a fault (with standard setting) 49
16 Stop-/Emergency Stop- Function 50
16.1 Stop: Standards 50
16.2 Emergency Stop: Standards 51
16.3 Implementation of the Stop Category 0 52
16.4 Implementation of Stop Category 1 53
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16.5 Implementation of Stop Category 2 54
17 Safe Torque Off (STO) 55
17.1 Safety instructions 56
17.2 Use as directed 56
17.3 Prohibited Use 57
17.4 Technical data and pinning 57
17.5 Enclosure 57
17.6 Wiring 57
17.7 Functional description (in process) 58
17.7.1 Signal diagram (sequence) 59
17.7.2 Control circuit (example) 60
17.7.3 Functional test 61
17.7.4 Mains supply circuit (example) 61
18 Shock-hazard Protection 62
18.1 Leakage Current 62
18.2 Residual Current Protective Device (RCD) 62
18.3 Isolating Transformers 63
Mechanical Installation 64
1 Safety Instructions 65
2 Guide to Mechanical Installation 65
3 Control Cabinet Layout AKD-xzzz06 66
4 Control Cabinet Layout AKD-xzzz07 67
5 Dimensions, AKD-x00306 to x00606 68
6 Dimensions, AKD-x01206 69
7 Dimensions, AKD-x02406 70
8 Dimensions, AKDx00307 to 01207 71
9 Dimensions, AKDx02407 72
Electrical Installation 73
1 Safety Instructions 74
2 Guide to electrical installation 75
3 Wiring 76
4 Components of a servosystem 77
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5 Connector Assignments, AKD-x00306 to x00606 78
6 Connector Assignments, AKD-x01206 78
7 Connector Assignments, AKD-x02406 and AKD-xzzz07 79
8 Connection Diagram, AKD-x00306 to x00606 80
9 Connection Diagram, AKD-x01206 81
10 Connection Diagram, AKD-x02406 and AKD-xzzz07 82
11 EMI Noise Reduction 83
11.1 Recommendations for EMI Noise Reduction 83
11.2 Shielding with External Shielding Busbar 84
11.2.1 Shielding Concept 84
11.2.2 Shielding Busbar 85
11.3 Shielding Connection to the Drive 86
11.3.1 Grounding Plates 86
11.3.2 Shield connection clamps 86
11.3.3 Motor Connector X2 with shielding connection 87
12 Electrical Supply Connection 88
12.1 Connection to Various Mains Supply Networks AKD-xzzz06 (120V to 240V) 88
12.2 Connection to Various Mains Supply Networks AKD-xzzz07 (240V to 480V) 89
12.3 24 V Auxiliary Supply (X1) 90
12.4 Mains Supply Connection (X3, X4) 91
12.4.1 Three Phase connection (all AKD types) 91
12.4.2 Single phase connection (AKD-xzzz06 only) 92
12.5 External Brake Resistor (X3) 93
12.6 DC Bus Link (X3) 94
13 Motor Connection 96
13.1 Motor Power (X2) 97
13.1.1 Cable Length ≤ 25 m 97
13.1.2 Cable length >25 m 97
13.2 Motor Holding Brake (X2) 98
14 Feedback Connection 99
14.1 Feedback Connector (X10) 100
14.2 Resolver 101
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14.3 SFD 102
14.4 Encoder with BiSS 103
14.5 Sine Encoder with EnDat 2.1 104
14.6 Encoder with EnDat 2.2 105
14.7 Sine Encoder with Hiperface 106
14.8 Sine Encoder with Hall Encoder 107
14.9 Incremental Encoder with Hall Switches 108
15 Encoder Emulation Connector (X9) 109
15.1 Input Modes 109
15.1.1 Pinout Input X9 109
15.1.2 Pulse/Direction input (5 V) 110
15.1.3 Up/Down input (5 V) 111
15.1.4 Incremental Encoder (A quad B and Index) input (5 V) 111
15.2 Output Modes 112
15.2.1 Pinout Output X9 112
15.2.2 Emulated Encoder Output (EEO) - A quad B 113
15.3 Master-Slave Control 114
16 I/O Connection 115
16.1 I/O Connectors (X7 and X8) 115
16.2 Analog Input (X8) 116
16.3 Analog Output (X8) 117
16.4 Digital Inputs (X7/X8) 118
16.4.1 Digital Inputs 1 and 2 120
16.4.2 Digital Inputs 3 to 7 120
16.4.3 Digital Input 8 (ENABLE) 120
16.5 Digital Outputs (X7/X8) 121
16.5.1 Digital Outputs 1 and 2 121
16.5.2 FAULT relay contacts 122
17 Service Interface (X11) 123
17.1 Possible Network Configurations 123
17.2 Setting the IP Address with Rotary Switches 124
18 CANbus Interface (X12/X13) 125
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18.1 Transmission Rate for CANbus 125
18.2 Node Address for CANbus 126
18.3 CANbus Termination 126
18.4 CAN Bus Wiring 127
18.5 CANbus Cable 128
19 Motion Bus Interface (X5/X6) 129
19.1 Pinout X5/X6 129
19.2 Optional Motion Bus Protocols 129
19.3 EtherCAT 130
19.4 SynqNet (in process) 130
19.5 Motion Busses in Process 130
19.5.1 PROFINET CBA/RT/IRT (in process) 130
19.5.2 SERCOS III (in process) 130
19.5.3 Ethernet IP (A-B, in process) 130
19.5.4 Powerlink (in process) 130
19.5.5 Modbus TCP/IP (in process) 130
Setup 131
1 Safety Instructions 132
2 Setup software (WorkBench) 133
2.1 Use as directed 133
2.2 Software description 134
2.3 Hardware requirements 134
2.4 Operating systems 134
2.5 Installation under WINDOWS 2000/XP/VISTA/7 135
3 Basic Drive Test 136
3.1 Unpacking, Mounting, and Wiring the Drive 136
3.2 Minimum Wiring for Drive Test without Load 136
3.3 Testing Procedure 137
3.3.1 Confirm Connections 137
3.3.2 Install and Start WorkBench 137
3.3.3 Set Drive IP Address in WorkBench 138
3.3.4 Enable the Drive Using the Setup Wizard. 138
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